ArduCopter-3.0.1 released!

ArduCopter 3.0.1 has been released and is now available in the Mission Planner,, GitHub and the new Downloads Area.

Warning #1: Compass calibration and reducing interference is far more important than with 2.9.1b

Warning #2: GPS glitches can cause sudden and aggressive position changes while in loiter mode.  You may wish to reduce the Loiter PID P to 0.5 (from 1.0) to reduce aggressiveness (see image below of where this gain can be found in mission planner).

Warning #3: optical flow is not supported but will be back in the next release (AC-3.0.2 or AC-3.1.0).

Warning #4: loiter turns does not maintain altitude.  This bug will be fixed in AC-3.0.2.

Warning #5: This release has only been lightly tested on Traditional Helicopters.

Improvements over 2.9.1b include:

  • Inertial Navigation for Loiter and Auto meaning much more accurate control (Randy,Leonard,JonathanC)
  • 3D navigation controller follows straight lines in all dimensions between waypoints (Leonard,Randy)

         WPNAV_SPEED, WPNAV_SPEED_UP, WPNAV_SPEED_DN, WPNAV_ACCEL allows configuring speeds and acceleration during missions

  • "compassmot" to compensate for interference on compass from the pdb, motors, ESCs and battery.  (Randy,JonathanC) (Set-up video here)
  • Safety improvements:
    • simple Tin Can shaped Geo Fence
    • pre-arm checks to ensure all calibration has been performed before arming (can be disabled by setting ARMING_CHECK to zero).  (video description here)
    • GPS failsafe - switches to LAND if GPS is lost for 5 seconds
    • stability patch improvements to stop rapid climbs in very overpowered or overtuned copters
  • Circle mode improvements including "panorama" when CIRCLE_RADIUS set to zero (Randy,Leonard)
  • SONAR_GAIN parameter added to allow better tuning of sonar surface tracking
  • CH8 auxiliary switch (same features as CH7)
  • works on PX4 (some minor features still not available) (Tridge,PatH)

How to upgrade:

1. Make sure you are using Mission Planner 1.2.59 or newer (get it here)

2. Click on the MissionPlanner's Hardware, Install Firmware screen.  The version numbers should appear as "ArduCopter-3.0.1", then click the appropriate frame icon and it should upgrade as per usual.

3. Reduce the Loiter and Alt Hold PIDs if you have modified them from the defaults.  The modified PID values for the 3DR frame can be seen in the image below.

Note: Nav parameters have been combined with Loiter so do not be concerned if you can't find them.


4. Although not directly related to this release, if you purchased an APM prior to March of 2013, update your PPM encoder to the latest firmware (instructions here).

5. Try out the new version in stabilize mode first, then alt-hold, then loiter and finally RTL and Auto.

Numerous How-To videos are available:

Special Thanks to MarcoDaveC and the large number of testers on the pre-release thread who put their copters at risk during the extended testing period.  Some of their videos can be found hereherehereherehere and here.  Thanks also to MichaelO for the MP changes required for this release.

All feedback welcome.  Please put your questions, comments (good and bad!) below.

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  • I'll try to set the video question without words understandable:)

  • How accurate is Baralt at low altitudes? I've been experiencing negative readings in the logs and today it hit me. I've been roughly 1-2ft off the ground just trying to tune stuff and not suffer a major break if I crash. I graphed RelAlt and I had more above 0 readings than with BarAlt but there were a few negative readings. Even as I sit here typing the USB reading for Altitude is jumping from -.20 to 1.40. It's settled at .85 and I'm on the second floor of a house.
  • Hi,

    I dont know if anyone has reported or even had this problem yet but with the new MP ver1.2.64 I had trouble loading FW using the "load custom firmware" button. I tried on 2 different APM25's and several times USB ports reboots. I kept getting this message


    I keep an old version of MP loaded on my pc for times like this, with it I had no problem loading the same .hex file on both apm's

    Is there a better place to report MP problems?


  • Guys,

    at last i got some free time to test ACM 3.0 on TBS quad frame.

    Just tested stab, loiter and RTL.

    Stab is working, how to say it, just perfect !!! I can only say it is what i was searching last few years.

    Thanks to developers for this versions (3.0+)


    When i switched to RTL, frame started falling down and i had to intervene to prevent hit the ground. 

    Tried also loiter. From begin it was rock solid at the one place, for a long time, then it also went down.

    When looked into logs i can't see any suspicious things. Can some body help me with analyse of the logs?

    2013-08-02 21-13 3.log

    2013-08-02 21-14 4.log

  • Hi all,

    I've got a big difference between pich in and pitch, but I don't have those big difference with roll in and roll. I'm using a TBS frame, do you know what could be the reason ?


    2013-08-01 20-15 1_pitch.png

    2013-08-01 20-15 1.log

  • even just updated the mission planer and there disappeared window with firmware ....

    I just came today regulators wanted coaxial quadrics choose and not get

    connect is the window with firmware

  • hi all

    I checked and found that: fs landing running awry......
    the problem such that if the gps caught when FS it includes not landing and return without gps works as it should
    can verify for themselves
    and I'm hoping for this feature

  • i do not like DJI prices but this one is something

    as we evolve they do too...S800Evo+WookongM(with osd+wp+...)+retract landing gear+antivib kit+motors with foldable props+opto ESC so, complete kit for  2499Eur(3300$) i must say that is good price

  • Hello,

    i would like to say thank you to all dev team. Now I'm realy satisfied with everything. And for all new comers i would like to say, that arducopter flight quality depend not only on software but on everything inside. It's working like one piece in synergy. So if you have problems, please, start from technical side at first. From my expirience balancing, isolation from vibration and external compass - it's a must.

    still i see some points, not working like it should

    - WP_YAW_BEHAVIOR (in my setup = 1) but it's working without facing to the next way point in auto and flying like "crab"?

    - with last beta realize problems with landing speed in loiter or alt hold mode , it's too fast landing and no reaction to WPNAV_SPEED_DN parameter. RTL is OK
    please find attached logs

    (one tlog for two logs)



    2013-08-01 20-24-43.tlog

    2013-08-01 21-07 1.log

    2013-08-01 21-10 2.log
  • Hi Guys ...

    I have a new issue for me .. My Quad and Hexa have been flying really well and i have been fairly happy ..I decided to show my photographer business partner that we dont have to buy a second DJI unit we can use Arducopter .. But alas after many successful flights on no wind days was a little wind not too bad but the odd gust and breeze no means gale force ! lol ..but the copters were so hard to handle and struggled to maintain loiter or even Alt hold was quite scary! I tried rebooting but still the same ..very jittery and unsure of it self we put up our Wookong ship and it was stable as ever before ..please any ideas why it does not like windy days ?  I have foam on one of the APM2.5 units covering the altidue sensor..but not on the other one which version 2 with the daughter board for the old GPs .. both units are on anti vibration mounts but they were both unstable ...other wise beside today they were flying great. i was told to go back to the drawing board :o( and ideas ?  Reuben

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